CN207015572U - A kind of sail power autonomous underwater vehicle - Google Patents
A kind of sail power autonomous underwater vehicle Download PDFInfo
- Publication number
- CN207015572U CN207015572U CN201720709019.2U CN201720709019U CN207015572U CN 207015572 U CN207015572 U CN 207015572U CN 201720709019 U CN201720709019 U CN 201720709019U CN 207015572 U CN207015572 U CN 207015572U
- Authority
- CN
- China
- Prior art keywords
- sail
- underwater vehicle
- autonomous underwater
- wind
- dynamic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Wind Motors (AREA)
Abstract
The utility model discloses a kind of sail power autonomous underwater vehicle, it includes support, floatage body, wind power system and instrument room, the floatage body is connected to the lower end of the support, the floatage body is used to provide buoyancy, the wind power system includes mast and dynamic sail, and the mast is arranged on the upper end of the support, and the side of the dynamic sail is fixed on the mast, formed with sail face, the instrument room is connected to the lower end of support and is arranged at intervals with the floatage body dynamic sail.In the sail power autonomous underwater vehicle of the utility model embodiment, due to being provided with dynamic sail on support, so the motion of powered sail face can be provided by wind-force to drive sail power autonomous underwater vehicle to navigate by water, dependence of the sail power autonomous underwater vehicle to loading battery can so be reduced, and the endurance of sail power autonomous underwater vehicle can be improved, permanently effective observation is carried out to marine environment so as to realize.
Description
Technical field
Autonomous underwater vehicle field is the utility model is related to, more particularly, to a kind of underwater autonomous navigation of sail power
Device.
Background technology
In the related art, autonomous underwater vehicle is increasingly being used for sea as a kind of new observation platform
Ocean monitoring and ocean engineering field.Autonomous underwater vehicle typically provides power using electric drive mode.However, due to it is underwater from
The nacelle space of main ROV is limited, and its loading battery electric quantity is limited so that the endurance of autonomous underwater vehicle is very
Difference, it is impossible to permanently effective observation is carried out to marine environment.
Utility model content
The utility model is intended at least solve one of technical problem present in correlation technique.Therefore, the utility model needs
A kind of sail power autonomous underwater vehicle is provided.
The sail power autonomous underwater vehicle of the utility model embodiment include support, floatage body, wind power system and
Instrument room, the floatage body are connected to the lower end of the support, and the floatage body is used to provide buoyancy, and the wind power system includes
Mast and dynamic sail, the mast are arranged on the upper end of the support, and the side of the dynamic sail is fixed on the mast, institute
Dynamic sail is stated formed with sail face, the instrument room is connected to the lower end of support and is arranged at intervals with the floatage body.
It is dynamic due to being installed on support in the sail power autonomous underwater vehicle of the utility model embodiment
Sail, the motion of powered sail face can be so provided by wind-force to drive sail power autonomous underwater vehicle to navigate by water, so may be used
Sail power autonomous underwater vehicle is reduced to loading the dependence of battery, and the continuous of sail power autonomous underwater vehicle can be improved
Boat ability, permanently effective observation is carried out to marine environment so as to realize.
In some embodiments, the quantity of the floatage body is two, and two floatage bodies are disposed on described
The opposite sides of support, the dynamic sail is between described two floatage bodies.
In some embodiments, the support includes the link of two floatage bodies of connection, described two floatage bodies pair
Title is arranged on the both ends of the link, and the angle between the sail face and the width of the floatage body is more than 0 degree and small
In or equal to 90 degree.
In some embodiments, the lower end of the floatage body is streamlined.
In some embodiments, the sail power autonomous underwater vehicle include control system, anemoclinograph and
Electric machine, for the set-up of control system in the instrument room, the electric machine includes the first motor, the control system
It is electrically connected with the anemoclinograph and first motor, the anemoclinograph is used to detect wind speed and direction, described
Control system is used for the wind speed detected according to the anemoclinograph and the wind direction controls first motor to rotate
To drive the dynamic sail to be rotated relative to the mast to adjust the angle between the dynamic sail and wind.
In some embodiments, the active force formed in the wind to the sail face forms the sail power under water certainly
During the motive force of main aircraft flight, the control system is used to control first motor to rotate to drive the dynamic sail phase
It is rotated such that the angle between the sail face and the wind is more than 90 degree for the mast.
In some embodiments, the active force formed in the wind to the sail face forms the sail power under water certainly
During the resistance of main aircraft flight, the control system is used to control first motor to rotate to drive the dynamic sail relative
It is rotated such that the angle between the sail face and the wind is more than or equal to 45 degree and less than or equal to 90 degree in the mast.
In some embodiments, first motor is housed in the floatage body, and the sail power is autonomous under water
ROV includes steel cable, and one end of the steel cable connects the dynamic sail, and the other end of the steel cable penetrates the floatage body simultaneously
First motor is connected, the control system is used to control first motor to rotate to drive the steel cable to pull described move
Lifan rotates relative to the mast.
In some embodiments, the sail power autonomous underwater vehicle includes fixed pulley and connection ring, the branch
Frame includes link, and the fixed pulley is fixed on the link, and the bottom of the opposite side of the dynamic sail passes through the company
One end that ring is connect with the steel cable is connected, fixed pulley described in the steel cable winding, and the opposite side of the dynamic sail moves with described
The side of Lifan is opposite, and the control system is used to control first motor to rotate to drive the steel cable to pull the power
The opposite side of sail rotates relative to the mast.
In some embodiments, the sail power autonomous underwater vehicle includes rudder face, and the rudder face is arranged on institute
The lower end of floatage body is stated, the electric machine is arranged in the floatage body, and the electric machine includes being connected with the rudder face
The second motor, the control system and second motor be electrically connected with, and the control system is used to control second electricity
Machine is rotated to drive the rudder face to be rotated relative to the floatage body to adjust the boat of the sail power autonomous underwater vehicle
Line direction.
In some embodiments, the support includes link and connecting rod, the underwater autonomous navigation of sail power
Device includes service load, and the upper end of the connecting rod connects the lower end of the link, described in the lower end connection of the connecting rod
Instrument room, the instrument room are located at the lower section of the link, and the control system and the service load are located at the instrument
In cabin, the quantity of the floatage body is two, and described two floatage bodies are connected to the both ends of the link, the instrument
For freight space between described two floatage bodies, the instrument room is equal apart from the distance of described two floatage bodies.
In some embodiments, the sail power autonomous underwater vehicle includes solar panel and battery flat,
The solar panel be arranged on the floatage body top surface on, the battery flat be arranged on the instrument room in, it is described too
Positive energy cell panel is electrically connected with the battery flat, the battery flat and the control system, the electric machine and the work
Make load electric connection.
The additional aspect and advantage of the utility model embodiment will be set forth in part in the description, partly will be under
Become obvious in the description in face, or recognized by practice of the present utility model.
Brief description of the drawings
In description of the of the present utility model above-mentioned and/or additional aspect and advantage from combination accompanying drawings below to embodiment
It will be apparent and be readily appreciated that, wherein：
Fig. 1 is the schematic perspective view of the sail power autonomous underwater vehicle of the utility model embodiment.
Fig. 2 is another schematic perspective view of the sail power autonomous underwater vehicle of the utility model embodiment.
Fig. 3 is the part isometric schematic diagram of the sail power autonomous underwater vehicle of the utility model embodiment.
Fig. 4 is the structural representation of the instrument room of the sail power autonomous underwater vehicle of the utility model embodiment.
Fig. 5 is the folder between the sail face of the sail power autonomous underwater vehicle of the utility model embodiment and floatage body
Angular dependence schematic diagram.
Fig. 6 is the angle between the wind and dynamic sail of the sail power autonomous underwater vehicle of the utility model embodiment
Relation schematic diagram.
Fig. 7 is another between the wind and dynamic sail of the sail power autonomous underwater vehicle of the utility model embodiment
Angled relationships schematic diagram.
Fig. 8 is the module diagram of the sail power autonomous underwater vehicle of the utility model embodiment.
Main element symbol description：
Sail power autonomous underwater vehicle 100；
Link 11, connecting rod 111, support body 112, connecting rod 12, floatage body 20, mast 31, dynamic sail 32, sail face
321st, steel cable 33, fixed pulley 34, connection ring 35, rudder face 36, instrument room 40, nacelle 41, hatch door 42, sealing ring 43, control system
50th, anemoclinograph 51, electric machine controller 601, the first motor 61, the second motor 62, service load 70, solar panel
80th, battery flat 81.
Embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein
Same or similar label represents same or similar element or the element with same or like function from beginning to end.Lead to below
It is exemplary to cross the embodiment being described with reference to the drawings, and is only used for explaining the utility model, and it is not intended that to this practicality
New limitation.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ",
The orientation or position relationship of the instructions such as " clockwise ", " counterclockwise " be based on orientation shown in the drawings or position relationship, be only for
Be easy to describe the utility model and simplify to describe, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " first ",
" second " is only used for describing purpose, and it is not intended that indicating or implying relative importance or imply the technology indicated by indicating
The quantity of feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly include one or more
The feature.In description of the present utility model, " multiple " are meant that two or more, unless otherwise clearly specific
Limit.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection.Can be mechanical connection or electrical connection.Can be joined directly together, can also be indirectly connected by intermediary,
Can be connection or the interaction relationship of two elements of two element internals.For one of ordinary skill in the art
Speech, can understand concrete meaning of the above-mentioned term in the utility model as the case may be.
Also referring to Fig. 1~Fig. 8, the sail power autonomous underwater vehicle 100 of the utility model embodiment includes
Support, floatage body 20, wind power system and instrument room 40.
Floatage body 20 is connected to the lower end of support.Floatage body 20 is used to provide buoyancy.Wind power system includes mast 31 and moved
Lifan 32.Mast 31 is arranged on the upper end of support.The side of dynamic sail 32 is fixed on mast 31.Dynamic sail 32 is formed with sail face
321.Instrument room 40 is connected to the lower end of support and is arranged at intervals with floatage body 20.
In the sail power autonomous underwater vehicle 100 of the utility model embodiment, due to being provided with support
Dynamic sail 32, it so can provide powered sail face 321 by wind-force and move to drive sail power autonomous underwater vehicle 100
Navigation, dependence of the sail power autonomous underwater vehicle 100 to loading battery can be so reduced, and it is underwater to improve sail power
The endurance of autonomous navigation device 100, permanently effective observation is carried out to marine environment so as to realize.
It should be noted that because ocean can provide abundant wind-force, so by sail power autonomous underwater vehicle
100 for when being monitored to marine environment, the abundant wind-force formed on sea can to provide more lasting power to promote
Sail face 321 is moved, so that sail power autonomous underwater vehicle 100 has stronger endurance.In this way, sail power
Autonomous underwater vehicle 100 constitutes the sail power autonomous underwater vehicle of sail power.
In addition, the shape and size in sail face 321 can be configured as the case may be.For example, in some instances, sail face
321 shape is triangular in shape.In this way, under the action of the forces of the wind, sail face 321 can bend and form larger motive force.
In some embodiments, the quantity of floatage body 20 is two.Two floatage bodies 20 are disposed on the phase of support
To both sides.Dynamic sail 32 is between two floatage bodies 20.
In this way, because two floatage bodies 20 are disposed on the opposite sides of support, so it is capable of the relative of balance bracket
The stress of both sides, so as to avoid sail power autonomous underwater vehicle 100 from being turned on one's side due to unbalance stress, improve wind
The stability that sail power autonomous underwater vehicle 100 navigates by water.
It should be noted that the quantity of floatage body 20 can be configured as the case may be, however it is not limited to above-mentioned embodiment party
Number described in formula.
In some embodiments, support includes the link 11 of two floatage bodies 20 of connection.Two floatage bodies 20 are symmetrical
It is arranged on the both ends of link 11.Folder between the width of sail face 321 and floatage body 20 (as shown in Fig. 1 Y direction)
Angle a is more than 0 degree and less than or equal to 90 degree.
In this way, because two floatage bodies 20 are symmetricly set on the both ends of link 11, so that the both ends of link 11
Stress it is more balanced, so as to further enhance sail power autonomous underwater vehicle 100 navigation stability.It is further, right
Two floatage bodies 20 for claiming to set can also improve the precision of the steering of sail power autonomous underwater vehicle 100, so as to strengthen wind
The stability that sail power autonomous underwater vehicle 100 navigates by water.Further, since angle a is more than 0 degree and less than or equal to 90 degree, this
Under the action of the forces of the wind, the lifting surface area in sail face 321 is larger for sample, and can bend and form larger motive force.
In some instances, angle a is 10 degree, 20 degree, 30 degree, 40 degree, 45 degree, 50 degree, 60 degree, 65 degree, 70 degree, 80 degree
Or 90 degree.It should be noted that angle a value is not limited to above-mentioned cited value.
In some embodiments, link 11 includes spaced multiple connecting rods 111.Multiple connecting rods
111 two floatage bodies 20 of connection.In this way, the stability that link 11 connects two floatage bodies 20 can be improved.And sail power
Autonomous underwater vehicle 100 can be housed in connecting rod 111 for connecting circuit part (such as motor or battery flat) connecting line
In, so facilitate the arrangement of circuit.
In some embodiments, the lower end of floatage body 20 is streamlined.In this way, fairshaped floatage body 20 can effectively subtract
The resistance of water suffered by small sail power autonomous underwater vehicle 100.
In some instances, the quantity of floatage body 20 is two.The lower end of each floatage body 20 is streamlined.
In some embodiments, sail power autonomous underwater vehicle 100 includes control system 50, anemoclinograph 51
And electric machine.Control system 50 is arranged in instrument room 40.Electric machine includes the first motor 61.Control system 50 and wind speed
The motor 61 of anemoscope 51 and first is electrically connected with.Anemoclinograph 51 is used to detect wind speed and direction.Control system 50 is used for root
The wind speed and direction detected according to anemoclinograph 51 controls the first motor 61 to rotate with driving power sail 32 relative to mast 31
Rotate to adjust the angle b between dynamic sail 32 and wind.
In this way, anemoclinograph 51 can be used for detecting real-time wind speed and direction, and can will be above-mentioned by data connecting line
Real-time testing result feeds back to control system 50, and then control system 50 can control the first motor in real time according to above-mentioned testing result
61 rotations are rotated with driving power sail 32 relative to mast 31, so as to reach the mesh of the angle b between regulation dynamic sail 32 and wind
, so just realize the intelligent control turned to sail power autonomous underwater vehicle 100.
Further, since control system 50 is the wind speed and direction that is detected according to anemoclinograph 51 to be controlled, this
Sample control system 50 can control the first motor 61 to rotate and be rotated such that what wind was formed relative to mast 31 with driving power sail 32
Wind-force constantly propulsion power sail 32 can move, so that sail power autonomous underwater vehicle 100 is in wind action power
101 times direction initialization navigation that can be kept along sail power autonomous underwater vehicle 100.
For example, in some instances, (the wind-force meeting that i.e. wind is formed when the wind direction that anemoclinograph 51 detects is contrary wind
So that sail power autonomous underwater vehicle 100 deviates the navigation direction set originally), control system 50 can control the first motor
61 rotations are rotated to adjust the angle b between dynamic sail 32 and wind, so that wind with driving power sail 32 relative to mast 31
The wind-force of formation can propulsion power sail 32 move against the wind, and enable sail power autonomous underwater vehicle 100 to keep edge
The navigation direction navigation of setting.It is that (wind-force that i.e. wind is formed can promote when with the wind in the wind direction that anemoclinograph 51 detects
Sail power autonomous underwater vehicle 100 continues to navigate by water along the navigation direction set originally), controllable first electricity of control system 50
Machine 61 rotates to be rotated to adjust the angle b between dynamic sail 32 and wind with driving power sail 32 relative to mast 31, so that
The wind-force that wind is formed can propulsion power sail 32 move with the wind, and sail power autonomous underwater vehicle 100 is kept along setting
Fixed navigation direction navigation.That is, sail face 321 may be by wind-force and be continuously sail moving with the case of contrary wind with the wind
Power autonomous underwater vehicle 100 provides power, so greatly improves endurance, so as to effectively solve sail power under water certainly
The energy problem of the main long time continuous working of ROV 100.
And for example, in other examples, when the wind speed that anemoclinograph 51 detects is larger, (now sail power is underwater
The headway of autonomous navigation device 100 is more than default headway), control system 50 can control the first motor 61 to rotate to drive
Dynamic sail 32 is rotated relative to mast 31 to reduce the angle b between dynamic sail 32 and wind, and sail face 321 is provided so as to reduce wind
Power, the headway of sail power autonomous underwater vehicle 100 can be so reduced, so as to ensure that sail power is autonomous under water
ROV 100 is in more stable operational configuration.(the now sail power water when the wind speed that anemoclinograph 51 detects is smaller
The headway of lower autonomous navigation device 100 is less than default headway), control system 50 can control the first motor 61 to rotate to drive
Dynamic dynamic sail 32 is rotated relative to mast 31 to increase the angle b between dynamic sail 32 and wind, and sail face 321 is carried so as to increase wind
The power of confession, that is, the motive force that wind is formed to sail face 321 is increased, can so increase sail power autonomous underwater vehicle 100
Headway so that sail power autonomous underwater vehicle 100 is run with approaching the headway of default headway.
It should be noted that the active force 101 that is formed to sail face 321 of the angle i.e. wind between dynamic sail 32 and wind with
Angle b between sail face 321.
Referring to Fig. 6, in some embodiments, sail power water is formed in the active force 101 that wind is formed to sail face 321
During the motive force that lower autonomous navigation device 100 navigates by water, control system 50 is used to control the first motor 61 to rotate with driving power sail 32
It is rotated such that the angle b between sail face 321 and wind is more than 90 degree relative to mast 31.
In this way, when sail power autonomous underwater vehicle 100 is run before the wind, may be such that between sail face 321 and wind
Angle b is remained above 90 degree, and the power that such wind is provided sail face 321 is larger, and enables to wind constantly propulsion power sail
32 move to downwind, so that sail power autonomous underwater vehicle 100 can keep state run before the wind.
It should be noted that " form sail power autonomous underwater vehicle in the active force 101 that wind is formed to sail face 321
During the motive force of 100 navigation " refer to that the active force 101 that wind is formed to sail face 321 is motive force, i.e., it can promote sail power
Autonomous underwater vehicle 100 continues to navigate by water along original navigation direction, i.e., sail power autonomous underwater vehicle 100 is in the wind
The state of navigation.
Referring to Fig. 7, in some embodiments, sail power water is formed in the active force 101 that wind is formed to sail face 321
During the resistance that lower autonomous navigation device 100 navigates by water, control system 50 is used to control the first motor 61 to rotate with the phase of driving power sail 32
It is rotated such that the angle b between sail face 321 and wind is more than or equal to 45 degree and less than or equal to 90 degree for mast 31.
In this way, when sail power autonomous underwater vehicle 100 is griping, may be such that between sail face 321 and wind
Angle b is remained above or equal to 45 degree and less than or equal to 90 degree, so when wind slips over so as to the both sides of sail face 321 of bending,
Due to Bernoulli effect, sail face 321 can receive a cross force diagonally forward simultaneously, now can be by underwater certainly in sail power
The bottom of main ROV 100 set rudder face 36 (for example, rudder face 36 is arranged on the lower end of floatage body 20, at this moment rudder face 36 equivalent to
Balance plate) balance out the lateral power of sail power autonomous underwater vehicle 100, such sail power autonomous underwater vehicle 100
It can be gone against the wind in the presence of power in wind-force forward, so that sail power autonomous underwater vehicle 100 can be kept
The state of griping.
It should be noted that " form sail power autonomous underwater vehicle in the active force 101 that wind is formed to sail face 321
During the resistance of 100 navigation " to refer to wind be resistance to the active force 101 that sail face 321 is formed, i.e., can hinder sail power it is underwater oneself
Main ROV 100 is navigated by water along original navigation direction, and sail power autonomous underwater vehicle 100 can be caused to deviate original boat
Line direction.But when angle b is adjusted to more than or equal to 45 degree and is less than or equal to 90 degree, wind is formed to sail face 321
Active force 101 can be changed into motive force, and sail face 321 can be promoted to move against the wind, so that sail power is underwater certainly
Main ROV 100 can keep the state of griping.
In some embodiments, the first motor 61 is housed in floatage body 20.Sail power autonomous underwater vehicle 100
Including steel cable 33.One end connection dynamic sail 32 of steel cable 33.The other end of steel cable 33 penetrates floatage body 20 and connects the first motor
61.Control system 50 is used to control the first motor 61 to rotate to drive steel cable 33 to pull dynamic sail 32 to rotate relative to mast 31.
In this way, the first motor 61 of driving steel cable 33 can be provided separately with dynamic sail 32, can so reduce at dynamic sail 32
Deadweight, so as to simplify dynamic sail 32 at structure.Further, since the first motor 61 is housed in floatage body 20, can so make
Obtain the first motor 61 with water to completely cut off, and can also reduce the part that sail power autonomous underwater vehicle 100 is located on the water surface
Gravity.
In some embodiments, sail power autonomous underwater vehicle 100 includes fixed pulley 34 and connection ring 35.Support
Including link 11.Fixed pulley 34 is fixed on link 11.The bottom of the opposite side of dynamic sail 32 passes through connection ring 35 and steel
One end of rope 33 is connected.The winding fixed pulley 34 of steel cable 33.The opposite side of dynamic sail 32 is opposite with the side of dynamic sail 32.Control
System 50 is used to control the first motor 61 to rotate to drive steel cable 33 to pull the opposite side of dynamic sail 32 to rotate relative to mast 31.
In this way, the side of dynamic sail 32 is to be fixed on mast 31, and the opposite side of dynamic sail 32 can be relative to mast
31 rotate.So when control system 50 controls the first motor 61 to rotate, the first motor 61 of rotation can drive steel cable 33 around
Pulley 34 slides, and drives the opposite side of dynamic dynamic sail 32 to be rotated relative to mast 31, so as to realize between sail face 321 and wind
Angle b regulation.Wherein, the first motor of setting available buffer 61 of fixed pulley 34 is applied to the work of dynamic sail 32 by steel cable 33
Firmly, so that the opposite side of dynamic sail 32 can smoothly rotate relative to mast 31.
In some embodiments, link 11 includes support body 112.Support body 112 is along sail power autonomous underwater vehicle
100 extend laterally (as shown in Fig. 1 Y direction).Fixed pulley 34 is the end for being fixed on support body 112.Fixed pulley 34 is close
Floatage body 20 is set.In this way, it is easy to the installation of fixed pulley 34.
In some embodiments, sail power autonomous underwater vehicle 100 includes rudder face 36.Rudder face 36 is arranged on buoyancy
The lower end of body 20.Electric machine is arranged in floatage body 20.Electric machine includes the second motor 62 being connected with rudder face 36.Control
System 50 is electrically connected with the second motor 62.Control system 50 be used for control the second motor 62 rotate with drive rudder face 36 relative to
Floatage body 20 is rotated to adjust the navigation direction of sail power autonomous underwater vehicle 100.
In this way, control system 50 can drive rudder face 36 relative to 20 turns of floatage body by controlling the second motor 62 rotate
It is dynamic, so as to realize the rotation control to rudder face 36.Further, because rudder face 36 is arranged on the lower end of floatage body 20, such rudder face 36
There is balanced transversal power (equivalent to balance plate) and adjust the navigation direction of sail power autonomous underwater vehicle 100.
In addition, when sail power autonomous underwater vehicle 100 navigates by water on sea, rudder face 36 is in underwater.
For example, in some instances, when sail power autonomous underwater vehicle 100 is to during left drift, it can pass through and control system
The second motor 62 of control of system 50 is rotated to drive rudder face 36 to be turned right relative to floatage body 20 to cause sail power under water certainly
Main ROV 100 turns right and is back to the navigation direction of setting.When sail power autonomous underwater vehicle 100 is gone off course to the right
When, can by control system 50 control the second motor 62 rotate with drive rudder face 36 relative to floatage body 20 turn left with
Sail power autonomous underwater vehicle 100 turns left and is back to the navigation direction of setting.
It should be noted that rudder face 36 may be provided at the front side of sail power autonomous underwater vehicle 100, may also be arranged on
The rear side of sail power autonomous underwater vehicle 100.
In some embodiments, electric machine includes the electric machine controller 601 being arranged in floatage body 20.Motor control
Device 601 is electrically connected with the first motor 61 and the second motor 62.Electric machine controller 601 be used for control the first motor 61 rotate and/
Or second motor 62 rotate.Control system 50 is the master control system of sail power autonomous underwater vehicle 100.Control system 50
Use intelligent algorithm for whole sail power autonomous underwater vehicle 100 carry out path planning, and can by connecting line (with water every
Open) connection electric machine controller 601.Control system 50 is used for controlled motor controller 601 to cause the control of electric machine controller 601 the
One motor 61 rotates and/or the second motor 62 rotates, so as to realize the control to sail face 321 and/or rudder face 36.
In this way, be easy to carry out whole sail power autonomous underwater vehicle 100 by control system 50 integrated control, from
And the precision of the steering of sail power autonomous underwater vehicle 100 can be improved.
In some embodiments, support includes link 11 and connecting rod 12.Sail power autonomous underwater vehicle 100
Including service load 70.The lower end of the upper end connection link 11 of connecting rod 12.The lower end connection instrument room 40 of connecting rod 12.Instrument
Device cabin 40 is located at the lower section of link 11.Control system 50 and service load 70 are located in instrument room 40.The quantity of floatage body 20
For two.Two floatage bodies 20 are connected to the both ends of link 11.Instrument room 40 is between two floatage bodies 20.Instrument
The distance of two floatage bodies 20 of distance of cabin 40 is equal.
In this way, the set-up mode of two floatage bodies 20 and instrument room 40 enables to sail power autonomous underwater vehicle
100 form stable trimeric structure ROV, can so improve the stability of sail power autonomous underwater vehicle 100.Separately
Outside, service load 70 realizes various marine monitoring tasks under water available for sail power autonomous underwater vehicle 100, such as can
Enter the monitoring of trip temperature, seawater salinity, carbon dioxide or marine biodiversity situation etc. by service load 70.
It should be noted that the set-up mode of two floatage bodies 20 and instrument room 40 can be transversal arrangement (such as Fig. 1
Shown in Y direction), it can so increase sail power autonomous underwater vehicle 100 perpendicular to sail power autonomous underwater vehicle
100 transverse axis (as shown in Fig. 1 Y direction) and the rotary inertia of the longitudinal axis (as shown in Fig. 1 X-direction), so as to increase
The anti-rolling of sail power autonomous underwater vehicle 100 and counterpitching moment, so as to improve the underwater autonomous navigation of sail power
The stability of device 100, the reliability of the long-term navigation of enhancing sail power autonomous underwater vehicle 100.
In the example shown in Fig. 3 and Fig. 4, the quantity of floatage body 20 is two.Two companies of being connected to of floatage body 20
The both ends of frame 11 are connect, and two floatage bodies 20 are to be symmetrically arranged.Instrument room 40 is between two floatage bodies 20.Two
Floatage body 20 and instrument room 40 are in lateral arrangement (as shown in Fig. 1 Y direction).One the is provided with each floatage body 20
One motor 61.The number of fixed pulley 34 is two.Two fixed pulleys 34 are fixed on the both ends on link 11, two fixed pulleys 34
It is symmetrical arranged.Two fixed pulleys 34 are connected by steel cable 33.Steel cable 33 between two fixed pulleys 34 is in tension.
Each first motor 61 connects by the winding fixed pulley 34 of steel cable 33 and with the opposite side of dynamic sail 32.Controlling
When system 50 controls the first motor 61 to rotate to drive the pulling dynamic sail 32 of steel cable 33, the opposite side of dynamic sail 32 can be fixed at two
Slidably reciprocated on steel cable 33 between pulley 34, so as to be rotated relative to mast 31.
The lower end of each floatage body 20 is provided with rudder face 36.Rudder face 36 can be used for balanced transversal power (equivalent to balance plate)
With the navigation direction of regulation sail power autonomous underwater vehicle 100.During sail power autonomous underwater vehicle 100 navigates by water
By adjusting the angle b of dynamic sail 32 and wind and coordinating rudder face 36 to provide power.
In some embodiments, sail power autonomous underwater vehicle 100 includes solar panel 80 and battery flat
81.Solar panel 80 is arranged on the top surface of floatage body 20.Battery flat 81 is arranged in instrument room 40.Solar panel
80 are electrically connected with battery flat 81.Battery flat 81 is electrically connected with control system 50, electric machine and service load 70.
In this way, battery flat 81 collects electric energy caused by the solar panel 80 being located on the top of floatage body 20, and
For the control system 50 of whole sail power autonomous underwater vehicle 100, electric machine, service load 70 and other electrical parts
(such as anemoclinograph 51 or transmission mechanism) etc. provides electric energy, so as to ensure whole sail power autonomous underwater vehicle 100
Endurance.
Further, since solar panel 80 is arranged on the top surface of floatage body 20, solar cell so can be both prevented
Plate 80 influences the stability of the navigation of sail power autonomous underwater vehicle 100, by enabling to solar panel 80 fully to inhale
Solar energy is received to carry out the abundant conversion of energy.
In some embodiments, anemoclinograph 51 is arranged on the top of mast 31.The underwater autonomous navigation of sail power
Device 100 includes connecting line (not shown).One end of connecting line is electrically connected with control system 50.The other end of connecting line is successively
It is electrically connected with through connecting rod 12 and mast 31 and with anemoclinograph 51.
In this way, anemoclinograph 51 is arranged on the top of mast 31, the accuracy of detection can be so improved.In addition, connection
Line so effectively can avoid connecting line from being contacted with water to be housed in connecting rod 12 and mast 31.
In some embodiments, instrument room 40 includes nacelle 41 and the hatch door being removably tightly connected with nacelle 41
42。
In this way, nacelle 41 is to be detachably connected with hatch door 42, the replacing of service load 70 is so convenient for, so as to logical
Cross and change the service loads 70 of different purposes to carry out different marine monitoring tasks.In addition, nacelle 41 is connected simultaneously with hatch door 42
The accommodation space of sealing can be formed, can so ensure to set in instrument room 40 has preferable waterproof effect.
In some embodiments, sail power autonomous underwater vehicle 100 includes sealing ring 43.The sealed compartment of sealing ring 43
Gap between body 41 and hatch door 42.In this way, it can so improve the sealing effectiveness between nacelle 41 and hatch door 42.
In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it
" under " can directly be contacted including the first and second features, it is not directly to contact but lead to that can also include the first and second features
The other characterisation contact crossed between them.Moreover, fisrt feature second feature " on ", " top " and " above " include the
One feature is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.First is special
Sign second feature " under ", " lower section " and " below " including fisrt feature immediately below second feature and obliquely downward, or only
Represent that fisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing different structure of the present utility model.
In order to simplify disclosure of the present utility model, hereinafter the part and setting of specific examples are described.Certainly, they are only
Example, and purpose does not lie in limitation the utility model.In addition, the utility model can in different examples repeat reference numerals
And/or reference letter, this repetition are for purposes of simplicity and clarity, itself not indicate discussed various embodiments
And/or the relation between setting.In addition, various specific techniques and the example of material that the utility model provides, but this
Field those of ordinary skill can be appreciated that the application of other techniques and/or the use of other materials.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means to combine embodiment or example describe it is specific
Feature, structure, material or feature are contained at least one embodiment or example of the present utility model.In this specification
In, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.Moreover, the specific spy of description
Sign, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
While there has been shown and described that embodiment of the present utility model, one of ordinary skill in the art can manage
Solution：A variety of to the progress of these embodiments can change in the case where not departing from principle and objective of the present utility model, change,
Replace and modification, the scope of the utility model are limited by claim and its equivalent.
Claims (12)
- A kind of 1. sail power autonomous underwater vehicle, it is characterised in that including：Support；Floatage body, the floatage body are connected to the lower end of the support, and the floatage body is used to provide buoyancy；Wind power system, the wind power system include mast and dynamic sail, and the mast is arranged on the upper end of the support, described dynamic The side of Lifan is fixed on the mast, and the dynamic sail is formed with sail face；Instrument room, the instrument room are connected to the lower end of support and are arranged at intervals with the floatage body.
- 2. sail power autonomous underwater vehicle as claimed in claim 1, it is characterised in that the quantity of the floatage body is two Individual, two floatage bodies are disposed on the opposite sides of the support, the dynamic sail be located at described two floatage bodies it Between.
- 3. sail power autonomous underwater vehicle as claimed in claim 2, it is characterised in that the support includes connection two The link of floatage body, described two floatage bodies are symmetricly set on the both ends of the link, the sail face and the floatage body Width between angle be more than 0 degree and be less than or equal to 90 degree.
- 4. sail power autonomous underwater vehicle as claimed in claim 1, it is characterised in that the lower end of the floatage body is in stream Line style.
- 5. sail power autonomous underwater vehicle as claimed in claim 1, it is characterised in that the sail power is autonomous under water ROV includes control system, anemoclinograph and electric machine, and the set-up of control system is in the instrument room, the electricity Machine device includes the first motor, and the control system is electrically connected with the anemoclinograph and first motor, the wind Fast anemoscope is used to detect wind speed and direction, and the control system is used for the wind speed detected according to the anemoclinograph First motor is controlled to rotate with the wind direction to drive the dynamic sail to be rotated relative to the mast to adjust described move Angle between Lifan and wind.
- 6. sail power autonomous underwater vehicle as claimed in claim 5, it is characterised in that in the wind to sail face shape Into active force form the motive force of the sail power autonomous underwater vehicle navigation when, the control system is used to control institute The first motor is stated to rotate to drive the dynamic sail to be rotated such that between the sail face and the wind relative to the mast Angle is more than 90 degree.
- 7. sail power autonomous underwater vehicle as claimed in claim 5, it is characterised in that in the wind to sail face shape Into active force form the resistance of the sail power autonomous underwater vehicle navigation when, the control system is used to controlling described First motor is rotated to drive the dynamic sail to be rotated such that relative to the mast folder between the sail face and the wind Angle is more than or equal to 45 degree and less than or equal to 90 degree.
- 8. sail power autonomous underwater vehicle as claimed in claim 5, it is characterised in that first motor is housed in institute State in floatage body；The sail power autonomous underwater vehicle includes steel cable, and one end of the steel cable connects the dynamic sail, the steel cable The other end penetrate the floatage body and connect first motor, the control system is used to control first motor to rotate To drive the steel cable to pull the dynamic sail to be rotated relative to the mast.
- 9. sail power autonomous underwater vehicle as claimed in claim 8, it is characterised in that the sail power is autonomous under water ROV includes fixed pulley and connection ring, and the support includes link, and the fixed pulley is fixed on the link, described The bottom of the opposite side of dynamic sail is connected by the connection ring with one end of the steel cable, is slided surely described in the steel cable winding Wheel, the opposite side of the dynamic sail is opposite with the side of the dynamic sail, and the control system is used to control first motor Rotate to drive the steel cable to pull the opposite side of the dynamic sail to be rotated relative to the mast.
- 10. sail power autonomous underwater vehicle as claimed in claim 5, it is characterised in that the sail power is underwater certainly Main ROV includes rudder face, and the rudder face is arranged on the lower end of the floatage body, and the electric machine is arranged on the floatage body Interior, the electric machine includes the second motor being connected with the rudder face, and the control system electrically connects with second motor Connect, the control system is used to control second motor to rotate to drive the rudder face to rotate to adjust relative to the floatage body Save the navigation direction of the sail power autonomous underwater vehicle.
- 11. sail power autonomous underwater vehicle as claimed in claim 5, it is characterised in that the support includes link And connecting rod, the sail power autonomous underwater vehicle include service load, the upper end of the connecting rod connects the connection The lower end of frame, the lower end of the connecting rod connect the instrument room, and the instrument room is located at the lower section of the link, the control System processed and the service load are located in the instrument room；The quantity of the floatage body is two, and described two floatage bodies are connected to the both ends of the link, the instrument For freight space between described two floatage bodies, the instrument room is equal apart from the distance of described two floatage bodies.
- 12. sail power autonomous underwater vehicle as claimed in claim 11, it is characterised in that the sail power is underwater certainly Main ROV includes solar panel and battery flat, and the solar panel is arranged on the top surface of the floatage body, institute Battery flat is stated in the instrument room, the solar panel is electrically connected with the battery flat, the battery flat with The control system, the electric machine and the service load are electrically connected with.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710453995 | 2017-06-15 | ||
| CN2017104539950 | 2017-06-15 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207015572U true CN207015572U (en) | 2018-02-16 |
Family
ID=60018671
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710458812.4A Pending CN107244404A (en) | 2017-06-15 | 2017-06-16 | A kind of sail power autonomous underwater vehicle |
| CN201720709019.2U Active CN207015572U (en) | 2017-06-15 | 2017-06-16 | A kind of sail power autonomous underwater vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710458812.4A Pending CN107244404A (en) | 2017-06-15 | 2017-06-16 | A kind of sail power autonomous underwater vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN107244404A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107244404A (en) * | 2017-06-15 | 2017-10-13 | 清华大学深圳研究生院 | A kind of sail power autonomous underwater vehicle |
| CN112616765A (en) * | 2020-12-21 | 2021-04-09 | 清华大学深圳国际研究生院 | Wave energy seabed oxygen supply device |
| CN115390434A (en) * | 2022-07-15 | 2022-11-25 | 哈尔滨工业大学 | Intelligent control method of sails of composite aircraft in downwind environment |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111674537B (en) * | 2020-05-18 | 2022-03-04 | 天津大学 | Sail propelling device and folding and unfolding mechanism of marine unmanned aircraft |
| CN111717356B (en) * | 2020-06-29 | 2021-08-10 | 郑州仿弦新材料科技有限公司 | Sail angle control system and wind power carrier |
| CN113022832A (en) * | 2021-04-23 | 2021-06-25 | 王曰英 | Sea-air amphibious unmanned aircraft and deployment and recovery method |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4708079A (en) * | 1984-03-28 | 1987-11-24 | Gaastra Sails International Ltd. | Flex wing apparatus with resilient couplings |
| FR2854864B1 (en) * | 2003-05-14 | 2006-05-26 | Francois Tissier | BOATING NAUTICAL BOAT |
| US8973511B2 (en) * | 2012-03-27 | 2015-03-10 | Walter Holemans | Autonomous sailboat for oceanographic monitoring |
| CN103963950A (en) * | 2013-02-06 | 2014-08-06 | 上海交通大学 | Bidirectional solar sailing ship |
| CN103523195B (en) * | 2013-10-23 | 2016-01-20 | 芜湖特源鑫复合材料科技有限公司 | A kind of remote control sailing boat |
| CN203601550U (en) * | 2013-10-23 | 2014-05-21 | 芜湖特源鑫复合材料科技有限公司 | Remote control sailing ship |
| CN204623816U (en) * | 2015-02-28 | 2015-09-09 | 中国船舶重工集团公司第七○二研究所 | A kind of sail management system |
| CN104760669A (en) * | 2015-03-20 | 2015-07-08 | 李静 | Water wind inspection ship |
| CN205707269U (en) * | 2016-04-16 | 2016-11-23 | 邵桂海 | A kind of sailing boat |
| CN107244404A (en) * | 2017-06-15 | 2017-10-13 | 清华大学深圳研究生院 | A kind of sail power autonomous underwater vehicle |
-
2017
- 2017-06-16 CN CN201710458812.4A patent/CN107244404A/en active Pending
- 2017-06-16 CN CN201720709019.2U patent/CN207015572U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107244404A (en) * | 2017-06-15 | 2017-10-13 | 清华大学深圳研究生院 | A kind of sail power autonomous underwater vehicle |
| CN112616765A (en) * | 2020-12-21 | 2021-04-09 | 清华大学深圳国际研究生院 | Wave energy seabed oxygen supply device |
| CN112616765B (en) * | 2020-12-21 | 2021-09-07 | 清华大学深圳国际研究生院 | Wave energy seabed oxygen supply device |
| CN115390434A (en) * | 2022-07-15 | 2022-11-25 | 哈尔滨工业大学 | Intelligent control method of sails of composite aircraft in downwind environment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107244404A (en) | 2017-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207015572U (en) | A kind of sail power autonomous underwater vehicle | |
| Silva et al. | Rigid wing sailboats: A state of the art survey | |
| Lu et al. | Design, fabrication, and characterization of a multimodal hybrid aerial underwater vehicle | |
| Furlong et al. | Autosub long range: A long range deep diving AUV for ocean monitoring | |
| CN207889964U (en) | A kind of unmanned sailing boat power and transfer | |
| CN109018271B (en) | Novel large-span hybrid drive unmanned underwater vehicle | |
| CN104590496B (en) | Long-distance autonomous wave glider without power consumption | |
| KR100922817B1 (en) | Small Autonomous Underwater Vehicle Test-bed | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN106428495A (en) | Marine unmanned vehicle directly driven by wind energy | |
| CN105644752A (en) | Novel wind-solar complementary power supply type unmanned sailing ship and control method thereof | |
| CN102963514A (en) | Portable submarine ocean environment monitoring glider | |
| CN108860454B (en) | All-weather long-voyage unmanned sailing ship design method | |
| CN205738030U (en) | A kind of unmanned sailing boat of novel wind-solar complementary energy supply and control method thereof | |
| CN103144752A (en) | Underwater towed body with multiple degrees of manipulation freedom | |
| US20190061880A1 (en) | Flying Craft with Realtime Controlled Hydrofoil | |
| CN109850081A (en) | The more floating bodies of sail power-assisted link nobody carrying platform waterborne and control method | |
| WO2023029306A1 (en) | Novel clean energy-based long-endurance unmanned ship | |
| CN206511094U (en) | A kind of utilization wave energy and the marine sniffing robot of wind energy joint driving | |
| Zhou et al. | The design and application of an unmanned surface vehicle powered by solar and wind energy | |
| CN111486050B (en) | Deformable power generation sail and unmanned exploration ship carrying same | |
| CN203127126U (en) | Three-cylinder underwater dragging body | |
| CN108327853A (en) | A kind of buoy that can change investigation depth | |
| US10633058B1 (en) | Sailing wing | |
| CN207482165U (en) | A kind of unmanned water surface aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |